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arXiv · 2408.04142

Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation

Rubén Castro Ornelas·Tomás Cantú·Isabel Sperandio·Alexander H. Slocum·Pulkit Agrawal
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Abstract

We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger.

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Rubén Castro Ornelas, Tomás Cantú, Isabel Sperandio, Alexander H. Slocum, Pulkit Agrawal. 2024-08-08. Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation. https://arxiv.org/abs/2408.04142

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